version = 2021
[proc]
pid = 1030
type = 0
name = 进料仓去盖
start = 
pause = 
step_count = 10
[step]
sid = 23001
bDisable = 0
desc = 竞争信号
script:

script_end
node_count = 6
[node]
nid = 3300101
task = 1030
type = 17
state = 0
desc = node1
cmd = trayevent=0
[node]
nid = 3300102
task = 1030
type = 17
state = 0
desc = node2
cmd = emptyevent=0
[node]
nid = 3300103
task = 1030
type = 14
state = 0
desc = node3
cmd = 吸料上下气缸1=0
[node]
nid = 3300104
task = 1030
type = 14
state = 0
desc = node4
cmd = 吸料上下气缸2=0
[node]
nid = 3300105
task = 1030
type = 14
state = 0
desc = node5
cmd = 吸料上下气缸3=0
[node]
nid = 3300106
task = 1030
type = 14
state = 0
desc = node6
cmd = 吸料上下气缸4=0
[step]
sid = 23002
bDisable = 0
desc = 换料盘位
script:

script_end
node_count = 14
[node]
nid = 3300231
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Replacement tray","Input silo")
[node]
nid = 3300232
task = 1
type = 24
state = 1
desc = node2
cmd = 0 "调试 准备换料盘点位运动"
[node]
nid = 3300233
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3300234
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3300241)
[node]
nid = 3300235
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3300236
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3300237
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3300238
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3300241)
[node]
nid = 3300239
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3300240
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3300241
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[node]
nid = 3300242
task = 1
type = 6
state = 0
desc = node12
cmd = p2 = p0 :z(safez)
[node]
nid = 3300243
task = 1
type = 7
state = 0
desc = node13
cmd = p2
[node]
nid = 3300244
task = 1
type = 7
state = 0
desc = node14
cmd = p12
[step]
sid = 23003
bDisable = 0
desc = 取盖
script:

script_end
node_count = 17
[node]
nid = 3300321
task = 2
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3300322
task = 2
type = 14
state = 0
desc = node2
cmd = 料盘搬运气缸=0
[node]
nid = 3300323
task = 2
type = 15
state = 0
desc = node3
cmd = 料盘搬运气缸-=1 -1
[node]
nid = 3300324
task = 2
type = 7
state = 0
desc = node4
cmd = p4
[node]
nid = 3300325
task = 2
type = 1
state = 0
desc = node5
cmd = 100
[node]
nid = 3300326
task = 2
type = 14
state = 0
desc = node6
cmd = 料盘搬运气缸=1
[node]
nid = 3300327
task = 2
type = 15
state = 0
desc = node7
cmd = 料盘搬运气缸+=1 -1
[node]
nid = 3300328
task = 2
type = 14
state = 0
desc = node8
cmd = 料盘真空=1
[node]
nid = 3300329
task = 2
type = 15
state = 0
desc = node9
cmd = 料盘真空检测=1 -1
[node]
nid = 3300330
task = 2
type = 14
state = 0
desc = node10
cmd = 料仓夹磁气缸2=0
[node]
nid = 3300331
task = 2
type = 15
state = 0
desc = node11
cmd = 料仓夹磁气缸2-=1 -1
[node]
nid = 3300342
task = 2
type = 1
state = 0
desc = node12
cmd = 300
[node]
nid = 3300332
task = 2
type = 14
state = 0
desc = node12
cmd = 料盘搬运气缸=0
[node]
nid = 3300333
task = 2
type = 15
state = 0
desc = node13
cmd = 料盘搬运气缸-=1 -1
[node]
nid = 3300334
task = 2
type = 15
state = 0
desc = node14
cmd = 料盘真空检测=1 -1
[node]
nid = 3300346
task = 2
type = 1
state = 0
desc = node16
cmd = 300
[node]
nid = 3300335
task = 2
type = 7
state = 0
desc = node15
cmd = p6
[step]
sid = 23004
bDisable = 0
desc = Tray料仓升一层
script:

script_end
node_count = 5
[node]
nid = 3300401
task = 1030
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3300402
task = 1030
type = 19
state = 0
desc = node2
cmd = 1017
[node]
nid = 3300405
task = 1030
type = 27
state = 0
desc = node5
cmd = if(rio("满料对射光电2") ==1)jump(3300407)
[node]
nid = 3300406
task = 1030
type = 27
state = 0
desc = node6
cmd = traynum++
[node]
nid = 3300407
task = 1030
type = 1
state = 0
desc = node5
cmd = 0
[step]
sid = 23005
bDisable = 0
desc = Tray料仓升一层1
script:

script_end
node_count = 7
[node]
nid = 3300541
task = 4
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3300542
task = 4
type = 6
state = 0
desc = node2
cmd = p6 = pallet(1,1,traynum)
[node]
nid = 3300543
task = 4
type = 7
state = 0
desc = node3
cmd = p6
[node]
nid = 3300544
task = 4
type = 1
state = 0
desc = node4
cmd = 100
[node]
nid = 3300545
task = 4
type = 15
state = 0
desc = node5
cmd = 满料对射光电2=1 -1
[node]
nid = 3300546
task = 4
type = 14
state = 0
desc = node6
cmd = 料仓夹磁气缸2=1
[node]
nid = 3300547
task = 4
type = 1
state = 0
desc = node7
cmd = 1500
[step]
sid = 23006
bDisable = 0
desc = 拍照
script:

script_end
node_count = 12
[node]
nid = 3300601
task = 1030
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3300602
task = 1030
type = 22
state = 0
desc = node2
cmd = 31 "M2"
[node]
nid = 3300603
task = 1030
type = 23
state = 0
desc = node3
cmd = 31 "WaitM2 1" 5000 ret
[node]
nid = 3300604
task = 1030
type = 27
state = 1
desc = node4
cmd = ret = work_get(1)
[node]
nid = 3300605
task = 1030
type = 27
state = 0
desc = node5
cmd = if(0 == ret) jump(3300612)
[node]
nid = 3300606
task = 1030
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3300607
task = 1030
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3300608
task = 1030
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3300609
task = 1030
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3300610
task = 1030
type = 27
state = 0
desc = node10
cmd = if (4==t1030){ wlog("ERROR END",-1,"Camera Try Again","");jump(3300601);}
[node]
nid = 3300611
task = 1030
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");
[node]
nid = 3300612
task = 1030
type = 1
state = 0
desc = node12
cmd = 1
[step]
sid = 23007
bDisable = 0
desc = 放空料仓盘
script:

script_end
node_count = 16
[node]
nid = 3300721
task = 2
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3300722
task = 2
type = 7
state = 0
desc = node2
cmd = p3
[node]
nid = 3300723
task = 2
type = 14
state = 0
desc = node3
cmd = 料仓夹磁气缸3=0
[node]
nid = 3300724
task = 2
type = 15
state = 0
desc = node4
cmd = 料仓夹磁气缸3-=1 -1
[node]
nid = 3300725
task = 2
type = 14
state = 0
desc = node5
cmd = 料盘搬运气缸=1
[node]
nid = 3300726
task = 2
type = 15
state = 0
desc = node6
cmd = 料盘搬运气缸+=1 -1
[node]
nid = 3300727
task = 2
type = 1
state = 0
desc = node7
cmd = 500
[node]
nid = 3300728
task = 2
type = 14
state = 0
desc = node8
cmd = 料盘真空=0
[node]
nid = 3300739
task = 2
type = 14
state = 0
desc = node12
cmd = 料仓夹磁气缸3=1
[node]
nid = 3300729
task = 2
type = 15
state = 0
desc = node9
cmd = 料仓夹磁气缸3+=1 -1
[node]
nid = 3300730
task = 2
type = 14
state = 0
desc = node10
cmd = 料盘搬运气缸=0
[node]
nid = 3300731
task = 2
type = 15
state = 0
desc = node11
cmd = 料盘搬运气缸-=1 -1
[node]
nid = 3300733
task = 2
type = 1
state = 0
desc = node13
cmd = 500
[node]
nid = 3300734
task = 2
type = 14
state = 0
desc = node14
cmd = 料仓夹磁气缸3=0
[node]
nid = 3300735
task = 2
type = 15
state = 0
desc = node15
cmd = 料仓夹磁气缸3-=1 -1
[node]
nid = 3300732
task = 2
type = 7
state = 0
desc = node16
cmd = p1
[step]
sid = 23008
bDisable = 0
desc = 空料仓下降一层
script:

script_end
node_count = 7
[node]
nid = 3300801
task = 1030
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3300802
task = 1030
type = 19
state = 0
desc = node2
cmd = 1018
[node]
nid = 3300803
task = 1030
type = 27
state = 0
desc = node3
cmd = if (emptynum==20) {pstart(1018);emptyevent=0;jump(3300802)}
[node]
nid = 3300804
task = 1030
type = 19
state = 0
desc = node2
cmd = 1018
[node]
nid = 3300805
task = 1030
type = 27
state = 0
desc = node4
cmd = if(rio("满料对射光电3") ==0)jump(3300807)
[node]
nid = 3300806
task = 1030
type = 27
state = 0
desc = node4
cmd = emptynum++
[node]
nid = 3300807
task = 1030
type = 1
state = 0
desc = node5
cmd = 0
[step]
sid = 23009
bDisable = 0
desc = 空料仓下降一层1
script:

script_end
node_count = 2
[node]
nid = 3300951
task = 5
type = 6
state = 0
desc = node1
cmd = p6 = pallet(1,1,emptynum)
[node]
nid = 3300952
task = 5
type = 7
state = 0
desc = node2
cmd = p6
[step]
sid = 23010
bDisable = 0
desc = end
script:

script_end
node_count = 2
[node]
nid = 3301001
task = 1030
type = 27
state = 0
desc = node1
cmd = trayevent=0
[node]
nid = 3301002
task = 1030
type = 27
state = 0
desc = node1
cmd = emptyevent=0